期刊
出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0959651820946135
关键词
Underactuated system; translational oscillator with rotational actuator system; disturbance observer; sliding mode control
资金
- National Natural Science Foundation of China [61803339]
- Natural Science Foundation of Zhejiang Province [LQ18F030011]
This article investigates control issues of the translational oscillator with rotational actuator system in the presence of uncertain disturbances. It proposes a nonlinear disturbance observer and a global sliding mode control method for disturbance estimation and stabilization. The proposed methods are compared with existing control methods, showing continuous and global robustness with respect to disturbances.
This article is motivated by the control issues of the translational oscillator with rotational actuator system in the existence of uncertain disturbances. A nonlinear disturbance observer and a global sliding mode control method are proposed for the disturbance estimation and stabilization of the translational oscillator with rotational actuator system. Compared with the existing control methods, uncertain disturbances are estimated by the proposed nonlinear disturbance observer. In addition, the sliding mode control method is continuous and global robustness with respect to disturbances. Specifically, to facilitate the controller design, the dynamics of the translational oscillator with rotational actuator system are rearranged as the cascade form first. Then, a virtual signal is constructed and corresponding error dynamics are derived. Subsequently, a nonlinear disturbance observer and a continuous global sliding mode control method are proposed for the disturbance rejection and stabilization of the translational oscillator with rotational actuator system. Finally, simulation results are provided to verify the effectiveness and robustness of the proposed controller.
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